Currently working on a high voltage project involving xenon flash tubes. I am working towards a circuit that will use series triggering to ionise the xenon gas and a capacitor bank to dump the energy for the flash.

Final robot version. New polycarbonate track pieces (Lexan), the RGB-D sensor and PVC supporting pipes for the laptop.

A 2D and 3D view of a scene. The view on the right shows how the robot extracts the planar components and recognisies a spherical object from the 3D pointcloud.

Map derived from pointcloud data only. Red squares are possible object locations. The two squares that appear in the outside the map are possible locations but not accessible by the robot (e.g. an object on a library bookshelf)